Simple Controllers for Dexterous Hands
نویسندگان
چکیده
Unlike pick-and-place manipulations, ne motions strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties. Performing assembly operations with a dexterous hand make high demands on the controller of the robot gripper. Pre-grasping operations are highly dependent on a good position/velocity control. The control strategies for position and velocity which are used for the Dexterous Hand of INRIA and the Karlsruhe Dexterous Hand will be introduced. The motivation of this work is to analyse and compare diierent control strategies applied to these hands to create an intermediate framework for testing planning strategies in these two diierent systems.
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